diff --git a/turtlebot_calibration/package.xml b/turtlebot_calibration/package.xml
index 58ab2831..35409ba3 100644
--- a/turtlebot_calibration/package.xml
+++ b/turtlebot_calibration/package.xml
@@ -1,4 +1,4 @@
-<package>
+<package format="3">
   <name>turtlebot_calibration</name>
   <version>2.3.7</version>
   <description>turtlebot_calibration</description>
@@ -17,14 +17,16 @@
   <build_depend>nav_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>message_generation</build_depend>
-  <build_depend>python_orocos_kdl</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 2">python_orocos_kdl</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 3">python3-pykdl</build_depend>
 
-  <run_depend>rospy</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>nav_msgs</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>python_orocos_kdl</run_depend>
-  <run_depend>turtlebot_bringup</run_depend>
-</package>
\ No newline at end of file
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>nav_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python_orocos_kdl</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-pykdl</exec_depend>
+  <exec_depend>turtlebot_bringup</exec_depend>
+</package>